US20090223335A1 - In-pipe work robot - Google Patents
In-pipe work robot Download PDFInfo
- Publication number
- US20090223335A1 US20090223335A1 US12/381,044 US38104409A US2009223335A1 US 20090223335 A1 US20090223335 A1 US 20090223335A1 US 38104409 A US38104409 A US 38104409A US 2009223335 A1 US2009223335 A1 US 2009223335A1
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- United States
- Prior art keywords
- pipe
- cutting nozzle
- axis
- work robot
- opening
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/265—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means specially adapted for work at or near a junction between a main and a lateral pipe
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T83/00—Cutting
- Y10T83/364—By fluid blast and/or suction
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T83/00—Cutting
- Y10T83/384—By tool inside hollow work
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- Engineering & Computer Science (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Drilling And Boring (AREA)
- Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)
- Spray Control Apparatus (AREA)
- Pipe Accessories (AREA)
- Lining Or Joining Of Plastics Or The Like (AREA)
- Sewage (AREA)
Abstract
A main pipe is lined using a pipe lining material that blocks the opening of a lateral pipe branching from the main pipe. An in-pipe work robot is provided with a cutting nozzle for spraying a pressurized fluid material or pressurized granular material onto the pipe lining material of the main pipe. The cutting nozzle is moved to a predetermined position inside the main pipe and rotated about a vertical axis by a rotary mechanism to cut the lining material between the first and second pipes by the pressurized fluid material or pressurized granular material sprayed from the cutting nozzle in order to form an opening for communicating the main pipe with the lateral pipe. The cutting nozzle can be moved in desired positions to drill holes accurately without damaging the internal peripheral surface of the lateral pipe.
Description
- 1. Field of the Invention
- The present invention relates to an in-pipe work robot, and more specifically to an in-pipe work robot for performing pipe work inside a first pipe (sewer main pipe) intersecting with a second pipe (lateral pipe).
- 2. Description of the Related Art
- When a sewer pipe or another existing pipe buried underground has deteriorated, it is known that a pipe lining method is used to line the existing pipe using a pipe lining material in order to restore the existing pipe without digging up the pipe. The pipe lining material is comprised of a flexible tubular resin absorbing material impregnated with an uncured liquid setting resin (commonly a thermosetting resin). The resin absorbing material is made of a non-woven fabric having a pipe shape corresponding to the shape of the existing pipe. A highly airtight plastic film is coated on the external peripheral surface of the resin absorbing material.
- In the lining work, the lining material is pulled into the existing pipe or everted and inserted into the existing pipe by means of fluid pressure. The inserted lining material is pressed against the internal peripheral surface of the existing pipe, and the liquid setting resin impregnated in the pipe lining material is heated and cured to line the internal surface of the existing pipe.
- Commonly, a lateral pipe communicates with a sewer pipe or another main pipe. When the main pipe is lined with the pipe lining material, the pipe lining material blocks the opening at the end of the juncture of the lateral pipe. Therefore, an in-pipe work robot provided with a drill and a TV camera is transported into the main pipe and operated remotely from aboveground. The cutter (rotary blade) of the drill is rotatably driven from the main pipe to drill through and remove the portion of the pipe lining material that blocks the end of the lateral pipe (JP-A-2000-15509).
- However, the cutter of the drill must be positioned in the pipe length direction, the peripheral direction and the vertical direction of the main pipe prior to drilling. This is accomplished while monitoring the main pipe interior with a TV camera. However, since the main pipe interior has poor visibility, being dark, there are cases in which mistakes are made in positioning; i.e., mistakes are made in the drilling positions.
- As a countermeasure, a method is used in which a hole saw linked to a flexible shaft for transmitting the rotary power of a motor is inserted into the lateral pipe prior to drilling, and a tentative hole small in diameter is formed from the lateral pipe in the portion of the pipe lining material that blocks the opening of the lateral pipe. After the tentative hole is formed, the TV camera is inserted through the lateral pipe, and a hole is drilled from the main pipe while the lateral pipe interior is monitored.
- However, in the method for forming a tentative hole from the lateral pipe, the hole saw is movably supported by the flexible shaft in the direction orthogonal to the pipe length direction of the lateral pipe. Therefore, it is difficult to position the hole saw in the lateral pipe in the desired drilling position (for example, the center position of the opening of the end of the lateral pipe or the like), and there are cases in which the drilling position deviates from the desired position.
- There are also cases in which the hole saw slips and moves due to a reaction by rotation in the direction orthogonal to the pipe length direction of the lateral pipe, and the hole saw collides with the internal peripheral surface of the lateral pipe, particularly in cases in which the pipe lining material that blocks the end of the lateral pipe has a hard surface. In this case, problems occur such as the hole saw being damaged, or the pipe lining material being scratched in cases in which the lateral pipe is lined.
- Another problem of the prior art is that a metal cutter or hole saw is used to cut the pipe lining material and form a hole in the pipe lining material from either the lateral pipe or the main pipe. This causes the peripheral portions of the lateral pipe to be unintentionally scratched.
- It is therefore an object of the invention to provide an in-pipe work robot capable of reliably cutting a lining material to make an opening at that portion of the lining material which blocks the junction of the first and second pipes.
- Another object of the present invention is to provide an in-pipe work robot capable of shattering or breaking up obstacles when the lining material is to be drilled through.
- In the present invention, an in-pipe work robot for performing pipe work inside a first pipe intersecting with a second pipe comprises a cutting nozzle for spraying a pressurized fluid material or pressurized granular material onto an internal wall surface of the first pipe to cut a junction between the first pipe and the second pipe; a movement mechanism for moving the cutting nozzle inside the first pipe along a center axis thereof; a rotary mechanism for rotating the cutting nozzle about a vertical axis; and a roll mechanism for rolling the cutting nozzle within a plane perpendicular to the center axis of the first pipe. The cutting nozzle is moved to a predetermined position and rotated to cut the junction between the first and second pipes by the pressurized fluid material or pressurized granular material sprayed from the cutting nozzle and to thereby form an opening for communicating the first pipe with the second pip.
- An in-pipe work robot according to the present invention also comprises a cutting nozzle for spraying a pressurized fluid material or pressurized granular material onto an internal wall surface of the first pipe to cut a junction between the first pipe and the second pipe; an XY robot for moving the cutting nozzle inside the first pipe along an x-axis direction corresponding to a center axis of the first pipe and a y-axis direction orthogonal to the x-axis direction; and a control means for controlling the position of the cutting nozzle in the x-axis and y-axis directions. The control means moves the XY robot and the cutting nozzle sequentially to predetermined positions to cut the junction between the first and second pipes by the pressurized fluid material or pressurized granular material sprayed from the cutting nozzle and to thereby form an opening for communicating the first pipe with the second pipe.
- An in-pipe work robot according to the present invention also comprises a disposal nozzle for spraying a pressurized fluid material or pressurized granular material onto an obstruction to be removed; a movement mechanism for moving the disposal nozzle inside the pipe within a plane perpendicular to a center axis of the pipe; and a control means for controlling the movement of the disposal nozzle. The control means moves the disposal nozzle to a predetermined position to dispose of the obstruction in front of the disposal nozzle by the pressurized fluid material or pressurized granular material sprayed therefrom.
- In the present invention, an opening for communicating the first pipe with the second pipe is formed by a pressurized fluid material or pressurized granular material sprayed from a cutting nozzle, making it possible to drill a hole without breaking or damaging the periphery of the drilled portion, unlike in a case in which a metal cutter or the like is used for drilling.
- Also in the present invention, the cutting nozzle can be moved along a pipe center axis or rolled within a plane perpendicular to the pipe center axis, or the cutting nozzle can be attached to an XY robot and moved. This allows the cutting nozzle to be placed in desired positions and holes to be drilled accurately.
- Further features of the invention, its nature and various advantages will be more apparent from the accompanying drawings and following detailed description of the invention.
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FIG. 1 is a perspective view showing a schematic external view of an in-pipe work robot according to the present invention; -
FIG. 2 is a front view showing a segment of part of the in-pipe work robot; -
FIG. 3 is a top view showing the rotary mechanism of the in-pipe work robot; -
FIG. 4 is a front view showing the in-pipe work robot as being set up in a main pipe; -
FIG. 5 a is a top view of a metal ball holder, andFIG. 5 b is a side view of the same; -
FIG. 6 is an illustrative view showing an image of the metal ball holder as viewed from the side facing the lateral pipe; -
FIG. 7 a is a top view of an XY robot, andFIG. 7 b is a side view of the same; -
FIG. 8 is a front view of an embodiment of an in-pipe work robot provide with an XY robot; -
FIG. 9 is an illustrative view showing a system for controlling the position of the cutting nozzle; -
FIG. 10 is an illustrative view showing how the shape of the cut outline is determined; and -
FIG. 11 is a front view showing another embodiment of the present invention in which the XY robot is stood upright to shatter obstacles. - The present invention will now be described in detail based on the illustrated embodiments. The embodiments are described with reference to a case in which a sewer pipe or other main pipe is used as the first pipe, and a lateral pipe which branches from the main pipe to aboveground is used as the second pipe. However, the present invention is not limited to these embodiments alone and can be applied to a system for drilling a hole in an arrangement in which the first and second pipes intersect with each other, and an opening that communicates with the second pipe is formed at the intersection. An embodiment will be described in which the first pipe is lined with a pipe lining material, a hole is formed in the lined first pipe to provide an opening. However, the method can also be applied to a pipe that has not been lined. The present invention can also be applied to a case of forming a hole in that lining material portion of a main pipe that blocks the open end of a lateral pipe for both cases in which the lateral pipe is lined prior to lining the main pipe, and the main pipe is lined prior to lining the lateral pipe.
- An in-
pipe work robot 1 includes acarriage 8, which is provided at the front withwheels motor 2 via abelt 6 and apulley 3, as shown inFIGS. 1 and 2 .Wheels 4′, 5′ rotated by amotor 2′ via abelt 6′ and apulley 3′ are similarly mounted at the rear of thecarriage 8. Thecarriage 8 is moved in the x-axis direction by driving either one of themotors motors pipe work robot 1 is set up inside amain pipe 60 that extends in x-axis direction, i.e., in the pipe length direction. The x-axis direction is also the direction along which lies acentral axis 60 a of themain pipe 60, as shown inFIG. 4 . - A
tubular roll cylinder 10 that constitutes a roll mechanism is mounted on top of thecarriage 8via bearing plates internal gear 10 a is formed in the internal peripheral surface of the rear end of thecylinder 10. Theinternal gear 10 a meshes with agear 13 that is rotated about amotor shaft 15 a by amotor 15 fixed to anattachment platform 16. When themotor 15 rotates, the meshing between thegear 13 and theinternal gear 10 a causes thecylinder 10 to roll about its own center axis. The in-pipe work robot 1 is configured so that when the robot is set up inside themain pipe 60, the roll axis of thecylinder 10 substantially coincides with thecenter axis 60 a of themain pipe 60. - In the center at the top of the
roll cylinder 10, a liftingcylinder 22 constituting a lifting mechanism is mounted via aguide ring 21 so as to rise and fall relative to theroll cylinder 10. The top of the liftingcylinder 22 is open. Arotary ring 23 constituting a rotary mechanism is supported viaball bearings 20 in the top of the lifting cylinder, and aninternal gear 23 a is formed in the internal peripheral surface of therotary ring 23, as can be seen fromFIG. 3 . Fixed in thebottom part 22 b of the liftingcylinder 22 is amotor 28 for rotating agear 24 that is meshed with theinternal gear 23 a of therotary ring 23. Rotation of themotor 28 causes torque to be transmitted via thegear 24 to therotary ring 23, and therotary ring 23 rotates about acenter axis 22 a (FIG. 4 ) of the liftingcylinder 22. - A cutting
nozzle 30 extending in a perpendicular direction (the z-axis direction) is fixed to therotary ring 23, and water, sand, or another pressurized fluid material or pressurized granular material is sprayed from thespray port 30 a of the cuttingnozzle 30 onto the internal wall surface of themain pipe 60, as will be described hereinafter. - A
columnar support 25 is erected in the center of thebottom part 22 b of the liftingcylinder 22, and a cylindrical magnet (permanent magnet or electromagnet) 27 is fixed via adisc 26 in the top of thecolumnar support 25. The liftingcylinder 22 is closed at the top by acover 32 havingopenings FIG. 1 , thecover 32 is shown separated from the liftingcylinder 22 in order to depict the internal structure, but when the liftingcylinder 22 is closed by thecover 32, thedisc 26 fixed to thecolumnar support 25 and the cuttingnozzle 30 are inserted respectively through theopenings cover 32. Therefore, themagnet 27 and thespray port 30 a of the cuttingnozzle 30 can protrude from the surface of thecover 32, as shown inFIG. 2 . Thecover 32 is mounted to therotary ring 23 so as to be capable of being rotated by themotor 28 about thecenter axis 22 a together with therotary ring 23 and the cuttingnozzle 30 mounted thereon. - As shown in
FIG. 4 , alifting device 40 is provided at the bottom part of theroll cylinder 10 so that it can raise and lower apantograph 41 via arod 42 and the liftingcylinder 22 mounted on top of thepantograph 41 can rise and fall. - As shown in
FIG. 1 , acamera 47 is mounted at the rear of thecarriage 8 via acolumnar support 46 fixed to asupport base 45, and the images photographed by thecamera 47 can be viewed to observe the piping work inside themain pipe 60. - In the embodiment described above, power supply lines to the
motors device 40, and other components, or lines for supplying fluid material or granular material to the cuttingnozzle 30 would complicate the drawings and are therefore omitted. - The internal peripheral surface of the
main pipe 60 is lined by a conventional method using apipe lining material 62, as shown inFIG. 4 . At this time, since thepipe lining material 62 blocks a main pipe-side opening 61 b of alateral pipe 61 that intersects themain pipe 60, a hole must be drilled through thepipe lining material 62 in this portion. - The in-
pipe work robot 1 is used to form a hole in this type ofpipe lining material 62 and to communicate themain pipe 60 with thelateral pipe 61. The operation of drilling a hole in thepipe lining material 62 is described in the following. - The in-
pipe work robot 1 is conveyed into themain pipe 60 and is moved within themain pipe 60 in the x-axis direction along thecenter axis 60 a of themain pipe 60 by the driving of themotors lateral pipe 61 to make brighter the portion of thepipe lining material 62 that blocks theopening 61 b of thelateral pipe 61. Thecarriage 8 is advanced to this portion, which is observed from aboveground or from within the manhole through thecamera 47. -
FIGS. 5 a and 5 b shows a metal ball holder (metal member) 52 forhousing metal balls metal ball holder 52 is inserted in advance into thelateral pipe 61, and rests by gravity on thepipe lining material 62. Themetal ball holder 52, being attracted by themagnet 27 mounted on thelifting cylinder 22, moves on thepipe lining material 62 in the x-axis direction in accordance with the forward or reverse movement of thecarriage 8. In order to ensure attraction by themagnet 27, the liftingdevice 40 is driven to raise thelifting cylinder 22 to a height where themagnet 27 will come in contact with the internal side of thepipe lining material 62. - When the
motor 15 is driven, theroll cylinder 10 rolls about thecenter axis 60 a of themain pipe 60, and themagnet 27 also rolls about thepipe center axis 60 a within a plane (the yz plane) perpendicular to thecenter axis 60 a. Themetal ball holder 52 moves on thepipe lining material 62 in the y-axis direction in accordance with the rolling of themagnet 27. - Thus, the
carriage 8 is moved forward and backward and thecylinder 10 is rolled in order to move themetal ball holder 52 on thepipe lining material 62 in the xy direction. The movement of themetal ball holder 52 can be observed from aboveground through acamera 50 mounted on aflexible shaft 51.FIG. 6 shows an image of themetal ball holder 52 positioned on thepipe lining material 62 in the portion of theopening 61 b of thelateral pipe 61. Thecarriage 8 is moved forward and backward and theroll cylinder 10 is rolled until themetal ball holder 52 moves to the substantial center of theopening 61 b. - When it has been visually confirmed that the
metal ball holder 52 has moved to the substantially center position of the lateral pipe opening 61 b as shown inFIG. 6 , the movement of thecarriage 8 and the rolling of theroll cylinder 10 are stopped. In this state, thecenter axis 22 a of the liftingcylinder 22 intersects with thecenter axis 61 a of thelateral pipe 61 in the center of the lateral pipe opening 61 b, as shown inFIG. 4 . - When the center of the opening to be formed by the cutting
nozzle 30 is positioned so as to coincide with thepipe center axis 61 a of thelateral pipe 61, water, sand, or another such pressurized fluid material or pressurized granular material is supplied to the cuttingnozzle 30, and themotor 28 is actuated to rotate therotary ring 23 as well as the cuttingnozzle 30 mounted thereon at a peripheral velocity of, e.g., 4 mm/sec to 10 mm/sec. The fluid material or granular material sprayed from the spray port of the cuttingnozzle 30 is blown onto the internal peripheral surface of the pipe lining material 62 (6.5 mm to 10 mm in thickness) of themain pipe 60 at a jet pressure of about 150 to 250 MPa and a jet diameter of 0.5 mm to 1.5 mm. This allows thepipe lining material 62 to be drilled through. When therotary ring 23 makes one revolution, a circular hole is drilled into thepipe lining material 62 that has blocked the lateral pipe opening 61 b, thus forming an opening which is substantially equivalent to theopening 61 b of thelateral pipe 61. - The rotational speed (peripheral velocity) of the cutting nozzle is determined according to at least the jet pressure of the fluid material (or granular material), and the thickness and material of the pipe lining material to be drilled so that a circular hole can be drilled when the cutting nozzle makes one revolution.
- In a case in which a granular material is sprayed, it is possible to use as the granular material garnet, a silicon-based material (silicon dioxide), or other sand material (grain size: 0.1 mm to 0.5 mm).
- In the embodiment described above, the shape of the cut
pipe lining material 62 is circular because the cuttingnozzle 30 rotates about thecenter axis 22 a. However, the shape of theopen end 61 b of thelateral pipe 61 could be elliptical depending on the manner in which thelateral pipe 61 is mounted to themain pipe 60, making it impossible to guarantee that a hole matching the shape of theopen end 61 b will be drilled. - In view of this, an embodiment is described in which an XY robot (XY table) is used to drill a hole having an arbitrary shape.
-
FIGS. 7 a and 7 b show the details of the configuration of anXY robot 70 used to drill a hole. Y-axis rails base 71 of theXY robot 70, and anX-axis rail 74 is disposed so as to span the Y-axis rails end 74 a of theX-axis rail 74 is fixed to abelt 78 wrapped around a drivenpulley 77 and apulley 76 driven by a Y-axis motor 75. When the Y-axis motor 75 is driven, theX-axis rail 74 moves back and forth in the y-axis direction along the Y-axis rails - The
X-axis rail 74 carries anX-axis head 80, anX-axis motor 81, a drivenpulley 83 and apulley 82 driven by theX-axis motor 81. Oneend 80 a of theX-axis head 80 is fixed to abelt 84 wrapped around thepulleys X-axis motor 81 is driven, theX-axis head 80 is guided by theX-axis rail 74 to move back and forth in the x-axis direction. - An
X-axis rod 85 is disposed on theX-axis rail 74 with one end fixed to theX-axis head 80. Amagnet 27 and cuttingnozzle 30 identical to those inFIG. 1 are mounted via anattachment platform 86 to the other end of theX-axis rod 85. When theX-axis motor 81 is driven, theX-axis head 80 moves in the x-axis direction, and themagnet 27 and cuttingnozzle 30 therefore also move in the x-axis direction in accordance with this movement. When the Y-axis motor 75 is driven, theX-axis head 80 moves in the y-axis direction, and themagnet 27 and cuttingnozzle 30 therefore also move in the y-axis direction. Thus, by actuating theX-axis motor 81 and the Y-axis motor 75, themagnet 27 and cuttingnozzle 30 can be moved in the xy directions within a range that corresponds to the movement range of theX-axis head 80 in the xy directions. - The reason the cutting
nozzle 30 is placed a predetermined distance apart from the Y-axis rail 72 on theXY robot 70 is to prevent the fluid material or granular material, cut scrap, or the like from falling onto theX-axis rail 74, the Y-axis rails X-axis motor 81, the Y-axis motor 75, and other XY drive mechanisms of the XY robot, and the drive mechanisms thereof from being damaged, as will be described hereinafter. - The
XY robot 70 is mounted on the in-pipe work robot and moved inside themain pipe 60, as shown inFIG. 8 . TheXY robot 70 is installed on a mountingplatform 49 so as to be capable of being raised and lowered in a perpendicular direction (z-axis direction) via thepantograph 41 by the liftingdevice 40 fixed to thecarriage 8 via anattachment platform 48. TheXY robot 70 is mounted so that theX-axis rail 74 is parallel to the x-axis direction, which is itself parallel to thecenter axis 60 a of themain pipe 60; the Y-axis rails attachment platform 48 is rotated about the y-axis 48 a or thex-axis 48 b so as to keep theXY robot 70 horizontal. Alternatively, adjusters are provided at the four corners of the mountingplatform 49 and thebase 71, and the levelness is adjusted to keep the plane defined by the X-axis rail and Y-axis rails horizontal. - Next, the
magnet 27 mounted on theXY robot 70 is moved in the x-axis and y-axis directions in themain pipe 60, and the movement of themetal ball holder 52 attracted by themagnet 27 is observed through thecamera 50. - As shown in
FIG. 9 , a controller (control means) 90 drives theX-axis motor 81 and Y-axis motor 75 to move theX-axis head 80, theX-axis rod 85 and themagnet 27 fixed thereto in the x-axis and y-axis directions.Rotary encoders X-axis motor 81 and Y-axis motor 75 to determine the x, y coordinates of the current position of themagnet 27, whose information is inputted from therotary encoders controller 90. - The
magnet 27 is moved to a position where the center of themagnet 27 substantially coincides with thecenter axis 61 a of thelateral pipe 61, and this position is used as an origin (x0, y0). Themagnet 27 is moved in the r1 direction, for example, as shown inFIG. 10 , and the movement of themetal ball holder 52, which moves in the r1 direction in accordance with the movement of themagnet 27, is observed through thecamera 50. Themetal ball holder 52 stops when themetal ball holder 52 reaches thelateral wall 61 c of thelateral pipe 61. Therefore, driving of theX-axis motor 81 and Y-axis motor 75 stops when theball holder 52 is observed to have stopped, and the position of themagnet 27 is calculated based on the position information from therotary encoders metal ball holder 52 comes in contact with the lateral pipelateral wall 61 c can be calculated from the position of the magnet and the diameter d of themetal ball holder 52. - Thus, the
magnet 27 is moved in various radial directions away from thepipe center axis 61 a. The positional coordinates of the outline of theopening 61 b of thelateral pipe 61 can be determined if the coordinates (xn, yn) (n=1, 2, 3, . . . ) of the positions is given where themetal ball holder 52 comes in contact with thelateral wall 61 c. Since the outline of theopening 61 b is generally elliptical, the outline coordinates can be made more precise through elliptical interpolation when the contact positions are few in number. - The positional coordinates of the outline of the
opening 61 b of thelateral pipe 61 determined in this manner are stored in amemory 91. When the hole is actually drilled, thecarriage 8 is moved in advance so that the cuttingnozzle 30 is positioned substantially in the center of theopening 61 b of thelateral pipe 61 while theX-axis head 80 is positioned in the substantial center of theXY robot 70, as shown inFIG. 8 . The outline position coordinates of theopening 61 b are then read from thememory 91, theX-axis motor 81 and Y-axis motor 75 are driven to move the cuttingnozzle 30 to the read position, and the pressurized fluid material or pressurized granular material is sprayed from the cutting nozzle to cut thepipe lining material 62. - When the cutting
nozzle 30 is moved sequentially to the coordinate positions stored in thememory 91 while the pressurized fluid material or pressurized granular material is sprayed from the cutting nozzle. The cuttingnozzle 30 is moved along a pathway corresponding to the outline of the lateral pipe opening 61 b. Given that the jet parameters of the cutting nozzle 30 (movement speed, jet pressure, jet diameter, and other parameters) are set to those as mentioned above, thepipe lining material 62 that blocks the lateral pipe opening 61 b can be cut to form a hole corresponding to theopening 61 b when the cuttingnozzle 30 makes a full circle. - It is possible to prevent the fluid material or granular material, the cut scrap, or the like from falling onto the XY drive mechanism and damaging the drive mechanism, because the cutting
nozzle 30 is mounted away from the drive mechanism of theXY robot 70, as described above. - With the configuration of the embodiment using the XY robot, it is possible to form not only holes having an elliptical shape such as is described above, but also holes having a circular, rectangular, or any arbitrary shape.
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FIG. 11 shows another embodiment in which anXY robot 100 having the same configuration as theXY robot 70 described above is stood upright and mounted at the front of thecarriage 8. TheXY robot 100 has anX-axis rail 101 and Y-axis rails X-axis head 104 is mounted on theX-axis rail 101. Adisposal nozzle 105 whose direction of spraying is pointed forward (in the direction running parallel to thecenter axis 60 a of the main pipe 60) is attached to theX-axis head 104. - The
disposal nozzle 105 sprays a pressurized fluid material or a pressurized granular material in the same manner as the cuttingnozzle 30, and thedisposal nozzle 105 is used to shatter or break up rock, wood, or other such obstacles (obstructions) in front of the in-pipe work robot when it moves forward. - When an obstacle is observed through a camera (not shown) set up in front, the
disposal nozzle 105 is moved within a plane (yz plane) perpendicular to thepipe center axis 60 a to a position where thedisposal nozzle 105 faces the obstacle. The pressurized fluid material or pressurized granular material is then sprayed from thedisposal nozzle 105 to shatter or break up the obstacle. - With this configuration, in-pipe obstacles can be reliably shattered and in-pipe work can be carried out efficiently.
- A switching
valve 110 is provided for supplying the pressurized fluid material or pressurized granular material between the cuttingnozzle 30 and thedisposal nozzle 105. The pressurized fluid material or pressurized granular material is supplied to the cuttingnozzle 30 when thepipe lining material 62 is to be cut, and the pressurized fluid material or pressurized granular material is supplied to thedisposal nozzle 105 when the obstacle in front is to be disposed of. - In the embodiments as described above, the
metal ball holder 52 and/or themetal balls magnet 27, but theholder 27 andballs holder 52 and theballs columnar support 25 or theX-axis rod 85 of theXY robot 70, and themagnet 27 is moved on thepipe lining material 62 at theopening 61 b of thelateral pipe 61.
Claims (20)
1. An in-pipe work robot for performing pipe work inside a first pipe intersecting with a second pipe, the robot comprising:
a cutting nozzle for spraying a pressurized fluid material or pressurized granular material onto an internal wall surface of the first pipe to cut a junction between the first pipe and the second pipe;
a movement mechanism for moving the cutting nozzle inside the first pipe along a center axis thereof;
a rotary mechanism for rotating the cutting nozzle about a vertical axis; and
a roll mechanism for rolling the cutting nozzle within a plane perpendicular to the center axis of the first pipe;
wherein the cutting nozzle is moved to a predetermined position and rotated to cut the junction between the first and second pipes by the pressurized fluid material or pressurized granular material sprayed from the cutting nozzle and to thereby form an opening for communicating the first pipe with the second pip.
2. An in-pipe work robot according to claim 1 , wherein the first pipe is lined with a pipe lining material, and the cutting nozzle cuts the portion of the pipe lining material that blocks the opening of the second pipe.
3. An in-pipe work robot according to claim 1 , wherein the roll mechanism is attached to the movement mechanism.
4. An in-pipe work robot according to claim 1 , wherein the rotary mechanism is attached to the roll mechanism.
5. An in-pipe work robot according to claim 1 , further comprising a lifting mechanism for raising and lowering the cutting nozzle.
6. An in-pipe work robot according to claim 5 , wherein the lifting mechanism is attached to the roll mechanism.
7. An in-pipe work robot according to claim 1 , wherein the cutting nozzle is positioned so that the center of the opening to be formed coincides with the axial center of the second pipe.
8. An in-pipe work robot according to claim 1 , wherein the opening to be formed substantially coincides with an opening of the second pipe on the side of the first pipe.
9. An in-pipe work robot according to claim 1 , wherein the rotational speed of the cutting nozzle is determined according to at least the jet pressure of the fluid material or granular material, and the thickness and material of the portion to be drilled so that a circular hole can be drilled when the cutting nozzle makes one revolution.
10. An in-pipe work robot according to claim 1 , wherein a magnet is mounted on the rotational center of the rotary mechanism, and a metal or magnetic substance is disposed inside the second pipe so as to be able to be attracted by the magnet, the magnet being moved to bring the metal or magnetic substance to the center of the opening to be formed, thereby positioning the cutting nozzle to the predetermined position inside the first pipe.
11. An in-pipe work robot according to claim 1 , wherein a metal or magnetic substance is mounted on the rotational center of the rotary mechanism, and a magnet is disposed inside the second pipe so as to be able to attract the metal or magnetic substance, the metal or magnetic substance being moved to bring the magnet to the center of the opening to be formed, thereby positioning the cutting nozzle to the predetermined position inside the first pipe.
12. An in-pipe work robot for performing pipe work inside a first pipe intersecting with a second pipe, the robot comprising:
a cutting nozzle for spraying a pressurized fluid material or pressurized granular material onto an internal wall surface of the first pipe to cut a junction between the first pipe and the second pipe;
an XY robot for moving the cutting nozzle inside the first pipe along an x-axis direction corresponding to a center axis of the first pipe and a y-axis direction orthogonal to the x-axis direction; and
a control means for controlling the position of the cutting nozzle in the x-axis and y-axis directions;
wherein the control means moves the XY robot and the cutting nozzle sequentially to predetermined positions to cut the junction between the first and second pipes by the pressurized fluid material or pressurized granular material sprayed from the cutting nozzle and to thereby form an opening for communicating the first pipe with the second pipe.
13. An in-pipe work robot according to claim 12 , wherein the first pipe is lined with a pipe lining material, and the cutting nozzle cuts the portion of the pipe lining material that blocks the opening of the second pipe.
14. An in-pipe work robot according to claim 12 , further comprising a lifting mechanism for raising and lowering the XY robot in a z-axis direction orthogonal to the x-axis and y-axis directions.
15. An in-pipe work robot according to claim 12 , wherein the XY robot can be adjusted horizontally.
16. An in-pipe work robot according to claim 12 , wherein the rotational speed of the cutting nozzle is determined according to at least the jet pressure of the fluid material or granular material, and the thickness and material of the portion to be drilled so that a circular hole can be drilled when the cutting nozzle makes one revolution.
17. An in-pipe work robot according to claim 12 , wherein a magnet is mounted on the XY robot, and a metal or magnetic substance is disposed inside the second pipe so as to be able to be attracted by the magnet, the magnet being moved to bring the metal or magnetic substance to the center of the opening to be formed, thereby positioning the cutting nozzle to the predetermined position inside the first pipe.
18. An in-pipe work robot according to claim 12 , wherein a metal or magnetic substance is mounted on the XY robot, and a magnet is disposed inside the second pipe so as to be able to attract the metal or magnetic substance, the metal or magnetic substance being moved to bring the magnet to the center of the opening to be formed, thereby positioning the cutting nozzle to the predetermined position inside the first pipe.
19. The in-pipe work robot according to claim 12 , wherein the cutting nozzle is mounted on the XY robot in a position a predetermined distance apart from the drive mechanism of the XY robot.
20. An in-pipe work robot for performing pipe work inside a pipe, the robot comprising:
a disposal nozzle for spraying a pressurized fluid material or pressurized granular material onto an obstruction to be removed;
a movement mechanism for moving the disposal nozzle inside the pipe within a plane perpendicular to a center axis of the pipe; and
a control means for controlling the movement of the disposal nozzle;
wherein the control means moves the disposal nozzle to a predetermined position to remove the obstruction in front of the disposal nozzle by the pressurized fluid material or pressurized granular material sprayed therefrom.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2008-059236 | 2008-03-10 | ||
JP2008059236 | 2008-03-10 |
Publications (1)
Publication Number | Publication Date |
---|---|
US20090223335A1 true US20090223335A1 (en) | 2009-09-10 |
Family
ID=40667814
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US12/381,044 Abandoned US20090223335A1 (en) | 2008-03-10 | 2009-03-06 | In-pipe work robot |
Country Status (4)
Country | Link |
---|---|
US (1) | US20090223335A1 (en) |
EP (1) | EP2101101B1 (en) |
JP (1) | JP2009243257A (en) |
AT (1) | ATE514029T1 (en) |
Cited By (8)
Publication number | Priority date | Publication date | Assignee | Title |
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US20110219925A1 (en) * | 2009-06-17 | 2011-09-15 | Singh Narendra M | Fluid jet cutting assembly and method for cutting a hollow workpiece |
US20140169886A1 (en) * | 2012-11-07 | 2014-06-19 | Neil ROGERS | Lateral reinstatement cutter and single access point method of use |
WO2016062663A1 (en) * | 2014-10-19 | 2016-04-28 | National Grid Gas Plc | Apparatus and method |
GB2531709A (en) * | 2014-10-20 | 2016-05-04 | Nat Grid Gas Plc | Apparatus and method |
CN106121028A (en) * | 2016-06-28 | 2016-11-16 | 林超 | A kind of cement concrete road sewer intelligence trash-removal device |
US20180133918A1 (en) * | 2015-04-07 | 2018-05-17 | Shonan Gosei-Jushi Seisakusho K.K. | Drilling apparatus and drilling method |
US10955081B1 (en) * | 2019-11-11 | 2021-03-23 | Jonathan R Griffith | Lateral reinstatement cutter |
CN113787221A (en) * | 2021-09-18 | 2021-12-14 | 江苏理工学院 | Full-automatic FRP pipe says intersecting line milling unit based on robot |
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CN102392926B (en) * | 2011-10-18 | 2013-04-24 | 南京航空航天大学 | Pipe robot |
CN104481023B (en) * | 2014-08-15 | 2016-08-24 | 上海市政工程设计研究总院(集团)有限公司 | A kind of pipeline dredging vehicle |
KR102032674B1 (en) * | 2019-01-29 | 2019-10-15 | 한양대학교 산학협력단 | Tubular cleaning apparatus and method of using the same |
KR102042938B1 (en) * | 2018-12-31 | 2019-11-11 | 한양대학교 산학협력단 | Tubular cleaning apparatus and method of using the same |
CN113226578B (en) * | 2018-12-31 | 2023-02-17 | 汉阳大学校产学协力团 | Pipe cleaning device |
CN110340085B (en) * | 2019-08-15 | 2021-04-02 | 广东祥实建设有限公司 | Inside mediation equipment of rivers pipeline for water conservancy environmental protection |
CN111255979A (en) * | 2020-02-26 | 2020-06-09 | 郑州大学 | Visual intelligent rotary spraying equipment for repairing drainage pipeline |
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- 2009-03-06 JP JP2009052782A patent/JP2009243257A/en active Pending
- 2009-03-09 AT AT09154674T patent/ATE514029T1/en not_active IP Right Cessation
- 2009-03-09 EP EP20090154674 patent/EP2101101B1/en active Active
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Publication number | Priority date | Publication date | Assignee | Title |
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US20110219925A1 (en) * | 2009-06-17 | 2011-09-15 | Singh Narendra M | Fluid jet cutting assembly and method for cutting a hollow workpiece |
US20140169886A1 (en) * | 2012-11-07 | 2014-06-19 | Neil ROGERS | Lateral reinstatement cutter and single access point method of use |
US9512952B2 (en) * | 2012-11-07 | 2016-12-06 | Geoffrey E. Parmer | Lateral reinstatement cutter and single access point method of use |
WO2016062663A1 (en) * | 2014-10-19 | 2016-04-28 | National Grid Gas Plc | Apparatus and method |
GB2531709A (en) * | 2014-10-20 | 2016-05-04 | Nat Grid Gas Plc | Apparatus and method |
US20180133918A1 (en) * | 2015-04-07 | 2018-05-17 | Shonan Gosei-Jushi Seisakusho K.K. | Drilling apparatus and drilling method |
CN106121028A (en) * | 2016-06-28 | 2016-11-16 | 林超 | A kind of cement concrete road sewer intelligence trash-removal device |
US10955081B1 (en) * | 2019-11-11 | 2021-03-23 | Jonathan R Griffith | Lateral reinstatement cutter |
CN113787221A (en) * | 2021-09-18 | 2021-12-14 | 江苏理工学院 | Full-automatic FRP pipe says intersecting line milling unit based on robot |
Also Published As
Publication number | Publication date |
---|---|
ATE514029T1 (en) | 2011-07-15 |
EP2101101A3 (en) | 2009-10-14 |
EP2101101B1 (en) | 2011-06-22 |
JP2009243257A (en) | 2009-10-22 |
EP2101101A2 (en) | 2009-09-16 |
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Owner name: SHONAN GOSEI-JUSHI SEISAKUSHO K.K., JAPAN Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:TSUJISAWA, TAKAHIKO;KAMIYAMA, TAKAO;UENO, MASAO;REEL/FRAME:022425/0504 Effective date: 20090302 |
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STCB | Information on status: application discontinuation |
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